Prefabricated all-vertical pile wharf structure and construction method thereof

Abstract

This invention discloses a prefabricated all-straight pile wharf structure and its construction method, belonging to the field of port engineering technology. It mainly addresses the problems of large workload, short construction window at low tide, and susceptibility to seawater corrosion associated with traditional wharf structures, particularly the use of cast-in-place pile caps and intersections. The technical solution includes: a prefabricated lower frame with through-holes for positioning PHC pipe piles; a prefabricated upper frame with a pile core inserted into the pipe pile to form a grouting gap, which is then grouted through a first grouting hole for consolidation; and prefabricated panels overlapping the upper frame, with pre-reserved joint grooves between adjacent panels continuously covered by a cast-in-place surface layer. The use of two prefabricated upper and lower frame structures replaces the cast-in-place pile caps, prefabricated crossbeams, prefabricated longitudinal beams, and cast-in-place nodes of traditional high-pile wharves, significantly simplifying on-site construction steps and improving construction efficiency. This prefabricated structure helps improve the overall integrity and durability of the wharf and is suitable for the construction of all-straight pile wharves with seismic resistance requirements.

Description

Technical Field

[0001] This invention relates to the field of port engineering technology. More specifically, this invention relates to a prefabricated all-straight pile wharf structure and its construction method. Background Technology

[0002] With socio-economic development, higher requirements have been placed on the quality of harbor terminal construction. High-pile wharves and gravity wharves are the two most widely used types of wharf structures. High-pile wharves often employ beam-slab or pier-type structures, requiring the prefabrication of numerous superstructure components such as beams, longitudinal beams, and panels on land, followed by on-site construction at sea using cast-in-place pile caps and beam intersections. However, harsh offshore operating conditions and fluctuating tides inevitably affect the quality of on-site concrete pouring. Compared to gravity structures using precast caissons and precast blocks, traditional high-pile wharves suffer from poor overall integrity, involve numerous offshore construction procedures, and are less conducive to quality control. The wharf structure operates long-term in the harsh marine environment, facing continuous exposure to seawater immersion, salt spray corrosion, and tidal cycles. Traditional high-pile wharf construction, especially beam-slab structures, heavily relies on extensive on-site wet concrete work, such as the pouring of pile caps, the casting of longitudinal and transverse beams, and their joint connections. This extensive on-site pouring means that freshly mixed concrete is directly exposed to corrosive seawater during its critical early stages of setting and hardening. This not only significantly increases the risk of reduced durability of concrete structures due to chloride ion intrusion and sulfate corrosion, but also creates potential performance degradation risks before the structure is put into use, thus shortening the service life of the wharf.

[0003] Meanwhile, wharf construction in deep waters far from the shoreline faces even more demanding construction conditions than near-shore construction. Construction windows are more frequently and briefly affected by wind and waves, and the scheduling costs for large construction vessels and equipment are extremely high. Construction efficiency becomes a key factor determining the success or failure and economic viability of the project. Existing methods for constructing fully vertical pile wharves typically require the positioning and driving of individual pipe piles at sea, followed by on-site pouring of the pile-top connection structures (such as pile caps and beam joints) at sea. These wet-work procedures at sea are complex and time-consuming, and in the complex and variable deep-water conditions, it is difficult to guarantee stable and reliable construction quality (such as concrete density and joint strength), severely restricting project progress and increasing costs.

[0004] Furthermore, from a structural performance perspective, traditional high-pile wharf structures also have inherent limitations. While beam-slab structures are relatively lightweight, the joint connections between their precast components (such as piles, beams, and slabs) largely rely on on-site casting. The stiffness and overall integrity of these joint areas are often weak, making them vulnerable to dynamic loads such as earthquakes and ship collisions, thus affecting the wharf's seismic performance and overall safety. Therefore, how to further improve the structural integrity and safety has become an urgent problem to be solved.

[0005] In summary, the core technical challenges driving the development of offshore deep-water fully vertical pile wharves lie in: how to design a new structural system that adapts to soft soil foundations while ensuring joint stiffness and integrity, and meeting seismic safety requirements; how to significantly reduce the amount of on-site wet concrete work susceptible to seawater erosion in harsh marine environments; and how to develop efficient and reliable construction methods to overcome the bottlenecks of low efficiency and unstable quality in deep-water construction. Currently, prefabricated structures have become a research hotspot in the field of engineering construction, possessing advantages such as high standardization, minimal on-site casting work at joints, and fast construction speed. Therefore, it is essential to innovate on the traditional high-pile wharf structural form and develop new prefabricated fully vertical pile wharf structures and their construction methods specifically tailored to the characteristics and needs of offshore construction operations. Summary of the Invention

[0006] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0007] Another objective of this invention is to provide a prefabricated, fully straight-pile wharf structure that can significantly reduce the amount of wet work at sea, avoid the risk of early concrete erosion, and improve the overall integrity and seismic performance of the nodes through modular assembly and grouting connection of the upper and lower frames. The precise positioning of the lower frame enables efficient construction of pipe piles, thereby comprehensively improving the construction efficiency and quality of deep-water wharves.

[0008] To achieve these objectives and other advantages according to the present invention, a prefabricated all-straight-pile wharf structure is provided, comprising:

[0009] A pile foundation and positioning frame assembly, comprising a prefabricated lower frame and PHC pipe piles, wherein the lower frame is provided with through-holes for driving piles, and the size of the driving piles is adapted to the size of the PHC pipe piles;

[0010] The wharf support frame assembly, which is attached to the lower frame, includes a prefabricated upper frame. The bottom of the upper frame is provided with a pile core into which the PHC pipe pile is inserted. There is a grouting gap between any pile core and the inner wall of the PHC pipe pile. The upper frame is provided with a first grouting hole that communicates with the grouting gap.

[0011] The pier surface layer component, which is erected on the upper frame, includes precast panels and cast-in-place surface layer. The precast panels have multiple precast joint grooves reserved between adjacent precast panels. The cast-in-place surface layer continuously covers all precast panels and joint grooves.

[0012] The lower frame has a pair of opposite grooves at the top and the upper frame at the bottom. The pair of grooves are joined together to form a closed casting cavity. Grout outlets are reserved at both ends of the casting cavity. The upper frame has a second grouting hole that extends through the casting cavity.

[0013] Preferably, the lower frame is an integrally formed grid frame; the upper frame includes an integrally formed grid frame, the longitudinal beam section of the grid frame includes an integrally formed rectangle and a corbel, and the top of the corbel is flush with the top of the crossbeam of the grid frame.

[0014] Preferably, the grid frame is set according to the distribution of PHC pipe piles, so that the pile holes are all located at the nodes of the grid frame.

[0015] Preferably, the inner wall of the PHC pipe pile is welded with several segments of spiral rib units along the depth direction. Each group of spiral rib units includes 4 to 6 rib plates arranged in an array along the circumference of the PHC pipe pile. The 4 to 6 rib plates of each group of spiral rib units are staggered along the depth direction of the inner wall of the PHC pipe pile. The outer surface of the pile core is provided with an axial straight guide groove that matches the spiral rib unit. The groove depth and width of the axial straight guide groove are adapted to the rib plate. The bottom of the pile core is machined with an inclined guide bevel corresponding to the spiral rib unit. The slope of the inclined guide bevel is 1:5. When the pile core is vertically inserted, the segmented spiral rib slides into the axial straight guide groove along the guide bevel, forming a wave-shaped grouting channel between the pile core and the PHC pipe pile. The first grouting hole is connected to the inlet of the grouting channel.

[0016] Preferably, the lower frame has a height of 0.5~1.5m, the piling holes are circular, elliptical or square, and any piling hole can be fitted with a single straight pile or double straight piles as needed; the upper frame has a height of 0.8~2.5m, and the pile core length is 5~6 times the outer diameter of the PHC pipe pile.

[0017] Preferably, MEMS inertial units are installed at the four corners of the lower frame to output pitch and roll angles at each location.

[0018] This invention further claims protection for a construction method for the prefabricated all-straight pile wharf structure, comprising:

[0019] S1. Onshore prefabricated components: The lower frame, upper frame, PHC pipe piles and prefabricated panels are prefabricated separately. The lower frame has through-holes for piling, and the size of the piling holes is adapted to the size of the PHC pipe piles. The bottom of the upper frame has prefabricated pile cores, and the outer diameter of the pile cores is smaller than the inner diameter of the PHC pipe piles to form grouting gaps. The upper frame has a first grouting hole that connects to the grouting gaps. Corresponding grooves are prefabricated at the top of the lower frame and the bottom of the upper frame.

[0020] S2. Positioning and driving of the lower frame: Transport the lower frame to the construction site and position it. Drive the PHC pipe piles along the pile holes until their tops are flush with the tops of the lower frame.

[0021] S3. Upper frame installation and pile connection: hoist the upper frame to the top of the lower frame so that the pile core is inserted into the PHC pipe pile and the corresponding grooves are aligned to form a closed pouring cavity. Grout outlets are reserved at both ends of the pouring cavity.

[0022] S4. Grouting and consolidation: Grout is injected into the grouting gap through the first grouting hole; grout is injected into the casting cavity through the second grouting hole;

[0023] S5. Panel and surface layer construction: The precast panels are overlapped on the upper frame, and the joint grooves for cast-in-place are reserved between adjacent precast panels; the cast-in-place surface layer is continuously poured on the precast panels and joint grooves.

[0024] Preferably, the specific operations in step S2, which involve transporting the lower frame to the construction site and positioning it, and then driving the PHC pipe piles along the pile holes until their tops are flush with the tops of the lower frame, include:

[0025] The air-floating installation and piling method is adopted: a semi-submersible barge is used to transport the lower frame structure and steel pontoons to the project site. The semi-submersible barge sinks, and the lower frame floats to the designated installation position with the help of the steel pontoons. After accurate positioning by GPS or GNSS, the lower frame is fixed by an automatic winch connected to the piling vessel with a cable end. The lower frame maintains a floating attitude and acts as a piling guide frame. PHC pipe piles are hoisted along the piling holes until their tops are flush with the tops of the lower frame.

[0026] Alternatively, a lifting and piling method can be used: the lower frame structure is transported to the project site by barge, and then lifted to the designated installation position by a lifting vessel. After accurate positioning by GPS or GNSS, the lower frame is kept in the lifting posture and acts as a piling guide. PHC pipe piles are driven along the piling holes until their tops are flush with the top of the lower frame.

[0027] Preferably, when the lower frame is floated to the designated installation position with the aid of steel buoys or hoisted to the designated installation position by a crane vessel, the four MEMS inertial units of the lower frame output the pitch angle θ of their respective angles in real time. x and roll angle θ y The angle of inclination of any angle The average of the four pitch angles is taken as the overall pitch angle β. y The overall roll angle β is the average of the four roll angles. x Overall tilt angle ;

[0028] If the overall tilt angle is >0.1°, first adjust the tilt angle of the lower frame: Trigger the steel buoy by adjusting the water volume within the buoy or by adjusting the lower frame's attitude adjustment mode using the gantry. Select the angle with the largest tilt angle as the reference angle, and adjust the gantry's leveling amount for the remaining triangles. M i Let m be the required vertical displacement leveling amount for the i-th angle; L i Let A be the distance between the i-th angle and the reference angle, in meters. 基准 The reference angle is the tilt angle, in degrees; A i Let be the inclination angle of the i-th angle, in degrees; i is an integer from 1 to 3.

[0029] The steel pontoon adjusts the water volume of the remaining triangular sections. V i Let m be the volume of water change corresponding to the i-th angle of the steel buoy. 3 S i Let m be the cross-sectional area of ​​the i-th angle steel pontoon. 2 ρ is the density of seawater, taken as 1025 kg / m³. 3 g is the acceleration due to gravity, taken as 9.8 m / s². 2 K is the displacement transfer coefficient of the steel pontoon, which is calibrated through steel pontoon tests and has a value of 0.92~0.98.

[0030] If the overall tilt angle is adjusted to ≤0.1°, or if the overall tilt angle is ≤0.1°, then further or directly adjust the lower frame displacement: Establish a virtual mesh with the center point of the lower frame design coordinates as the origin. Based on the real-time output of the spatial position of each corner by the four corner MEMS inertial units, calculate the deviation of each corner from the theoretical value. x i,实测 y i,实测 These are the measured coordinates of the current angle in the x and y directions, where x is the x-coordinate and y-coordinate. i,理论 y i,理论 The theoretical coordinates of the current angle in the x and y directions are given. If the maximum deviation of the coordinates of the four angles is greater than 50mm, the adjustment of the cable or the gantry is triggered so that the angle with the largest deviation is moved first, and then the angles are moved one by one in order of decreasing deviation.

[0031] Preferably, during the installation of the upper frame in step S3, the following steps are performed: when the upper frame is hoisted to 1-2m above the lower frame, the MEMS inertial units at the four corners of the upper frame are activated to establish a spatial coordinate mapping with the MEMS inertial units at the four corners of the lower frame, and the distance between corresponding corners of the upper and lower frames is calculated every 10s. x i,上 y i,上 These are the measured coordinates of the current angle of the upper frame in the x and y directions, where x is the x-coordinate. i,下 y i,下 The measured coordinates of the current angle of the lower frame in the x and y directions are given. The plane containing the angle with the smallest distance is taken as the verification plane. The theoretical spatial positions of the four corners of the upper frame in the verification plane are calculated. The deviation of each corner from the theoretical value is calculated in the same way. If the maximum deviation of the coordinates of the four corners is >50mm, the gantry is triggered to adjust the attitude of the upper frame so that the corner with the largest deviation value moves first, and then each corner is moved in order of decreasing deviation value.

[0032] The present invention has at least the following beneficial effects:

[0033] Firstly, the present invention uses two prefabricated upper and lower frame structures to replace the cast-in-place pile caps, prefabricated crossbeams, prefabricated longitudinal beams, cast-in-place nodes and other components of the traditional high-pile wharf. Only grouting is required between the pile core and the pipe pile, and between the upper frame and the lower frame. Compared with the huge amount of wet work at the intersection of the pile cap and the beam in the traditional construction process, the overall amount of wet work in this application is significantly reduced.

[0034] Secondly, the lower frame of this invention integrates pile driving holes as a guide frame, serving as a pile driving positioning structure. During construction, after the four corners of the lower frame are positioned by pile driving, the remaining piles can be driven sequentially. Positioning is only required once when installing the upper and lower frame structures, avoiding problems such as the large number of horizontal and vertical beams and the ease with which construction deviations affect construction quality in traditional installation processes. This not only reduces the positioning difficulty of offshore pile driving construction but also achieves synchronous and precise sinking of PHC pipe pile groups. The upper frame is an integrated prefabricated structure. The upper frame is hoisted as a whole and connected to the lower frame by grouting. Accurate positioning of the lower frame and leveling of the upper frame in conjunction with the MEMS real-time leveling algorithm can achieve precise construction of the entire wharf structure, greatly simplifying on-site construction steps, shortening the construction cycle of cast-in-place concrete beams or prefabricated beam components installed one by one in traditional methods, improving construction efficiency, overcoming the core bottleneck of short offshore construction window, and realizing a fully prefabricated construction method for high-pile wharf structures.

[0035] Thirdly, the closed grouting cavity of the upper and lower frames of this invention and the spiral rib-guide groove wave channel form a double sealing barrier, which helps to reduce the impact of seawater erosion.

[0036] Fourth, the piling holes of the grid frame of this invention are precisely arranged at the nodes, so that the PHC pipe pile group forms a spatial grid force system; combined with the low-height lower frame and the high-rigidity upper frame, it improves the uniformity of stress distribution of the wharf structure under seismic load and avoids stress concentration failure of traditional beam structure.

[0037] Fifth, the construction method provided by this invention constructs a spatial coordinate network through MEMS units. When positioning the lower frame, it achieves ±10mm leveling through tilt angle-water volume closed-loop control. When hoisting the upper frame, it corrects the deviation in real time through coordinate mapping algorithm, solving the misalignment problem caused by surge, and the assembly accuracy reaches 1cm level.

[0038] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0039] Figure 1 This is a structural schematic diagram of the prefabricated all-straight pile wharf structure described in one technical solution of the present invention;

[0040] Figure 2 This is a schematic diagram of the lower frame structure in another technical solution of the present invention;

[0041] Figure 3 This is a schematic diagram of the upper frame structure in another technical solution of the present invention;

[0042] Figure 4 This is a schematic diagram of the arrangement of prefabricated panels in another technical solution of the present invention;

[0043] Figure 5 This is an assembly diagram of the upper frame, lower frame, PHC pipe piles, and prefabricated panels in another technical solution of the present invention.

[0044] Among them, 1. PHC pipe pile; 2. Lower frame; 21. Pile hole; 3. Upper frame; 31. Longitudinal beam; 32. Cross beam; 33. Pile core; 34. First grouting hole; 35. Second grouting hole; 4. Precast panel; 41. Joint groove; 5. Cast-in-place surface layer. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0046] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0047] like Figures 1-5 As shown, the present invention provides a prefabricated all-straight pile wharf structure, comprising:

[0048] The pile foundation and positioning frame assembly includes a prefabricated lower frame 2 and a PHC pipe pile 1. The lower frame 2 is provided with a through-hole 21, and the size of the pile hole 21 is adapted to the size of the PHC pipe pile 1.

[0049] The wharf frame assembly, which is attached to the lower frame 2, includes a prefabricated upper frame 3. The bottom of the upper frame 3 is provided with a pile core 33 for inserting the PHC pipe pile 1. There is a grouting gap between any pile core 33 and the inner wall of the PHC pipe pile 1. The upper frame 3 is provided with a first grouting hole 34 that communicates with the grouting gap.

[0050] The pier surface layer component, which is erected on the upper frame 3, includes precast panels 4 and cast-in-place surface layer 5. The precast panels 4 have multiple cast-in-place joint grooves 41 reserved between adjacent precast panels 4. The cast-in-place surface layer 5 continuously covers all precast panels 4 and joint grooves 41.

[0051] The lower frame 2 has a pair of opposite grooves at the top and the upper frame 3 at the bottom. The pair of grooves are joined together to form a closed casting cavity. Grout outlets are reserved at both ends of the casting cavity. The upper frame 3 has a second grouting hole 35 that extends through the casting cavity.

[0052] The above technical solution achieves innovation in wharf structure and high efficiency in construction through modular prefabrication and layered assembly. The pile foundation and positioning frame components adopt a prefabricated lower frame 2 with a through-hole 21 (a 50-100mm gap is reserved between the outer wall of the pipe pile and the wall of the pile hole, which is suitable for the outer diameter of a single PHC pipe pile 1 or a pair of PHC pipe piles 1). After precise positioning by air flotation transport, the PHC pipe pile 1 (commercial standard model such as PHC-1000-130) is inserted into the hole and hammered to the design depth. The bottom of the prefabricated upper frame 3 of the wharf frame components is equipped with a pile core 33 structure. A 50-100mm grouting gap is reserved between the pile core 33 structure and the inner wall of the PHC pipe pile 1. During hoisting, the pile core 33 is inserted into the top of the pipe pile, and cement-based grout is injected through the first grouting hole 34 to fill the gap. The wharf surface layer components are assembled from prefabricated concrete panels on the upper frame 3. A 200-500mm wide joint groove 41 is reserved between adjacent prefabricated panels 4. Finally, the surface concrete (thickness ≥150mm) is poured as a whole to form a continuous bearing layer. The connection between the upper frame 3 and the lower frame 2 is achieved through a matching groove design: grooves (100~200mm deep) are respectively opened at the top of the lower frame 2 and the bottom of the upper frame 3. After being assembled, they form a closed rectangular casting cavity. High-strength grout is injected through the second grouting hole 35 (located on the side wall of the upper frame 3) to rigidly solidify the double frames. The overflow of grout from the outlet indicates that the cavity is densely filled. The entire process uses commercially available standard precast components and general construction equipment (such as crane barges and pile drivers).

[0053] According to the above technical solution, a specific manufacturing process for the prefabricated all-straight pile wharf structure is as follows:

[0054] Onshore prefabrication and offshore positioning: The lower frame 2 (including piling holes 21), upper frame 3 (including pile cores 33 and the first grouting hole 34 and the second grouting hole 35), PHC pipe piles 1, and prefabricated panels 4 are prefabricated in the factory. After being transported to the site, the lower frame 2 is towed to the design location by a barge and fixed as a piling guide frame. Subsequently, the PHC pipe piles 1 are driven sequentially through the holes in the lower frame 2 by a piling vessel and hammered into the bearing layer.

[0055] Frame assembly and grouting consolidation: The upper frame 3 is hoisted so that its bottom pile core 33 is inserted into the top of the PHC pipe pile 1, while the grooves of the lower frame 2 and the upper frame 3 are precisely aligned and spliced. First, high-strength cement grout is injected into the gap between the pile core 33 and the PHC pipe pile 1 through the first grouting hole 34, and stopped after the grout overflows from the top of the pipe pile; then, high-strength cement grout is injected into the pouring cavity formed by the splicing groove through the second grouting hole 35 until the grout overflows continuously from both ends, realizing the rigid connection of the double frames.

[0056] Surface layer construction and overall molding: The precast panel 4 is hoisted and laid on the top surface of the upper frame 3, and the joint groove 41 is reserved between adjacent panels. Finally, the surface layer, such as C40 fine stone concrete, is poured on the precast panel 4, and then vibrated to compact and cured.

[0057] According to the above technical solution, the prefabricated all-straight pile wharf structure provided by this invention can significantly improve the construction quality and service life of the all-straight pile wharf. Through layered modular design and grouting rigid connection technology, it significantly improves the comprehensive performance of the wharf throughout its entire life cycle. In terms of structural reliability, the groove splicing and grouting of the upper frame 3 and the lower frame 2 form an integral load-bearing unit, which improves shear strength and effectively transmits ship impact force and wave load; at the same time, the gap grouting between the pile core 33 and the PHC pipe pile 1 forms an embedded connection between the pile foundation and the upper frame 3, which greatly reduces the risk of stress concentration at the pile head. This structure can effectively reduce displacement under extreme working conditions, and is especially suitable for the complex environment of offshore deep water areas.

[0058] According to the above technical solution, the prefabricated straight pile wharf provided by this invention innovatively solves the bottleneck problems of insufficient overall structure and low prefabrication rate of prefabricated wharves. Traditional high-pile wharves require large-sized cast-in-place pile caps to overcome pile driving deviations. This invention abandons the traditional on-site connection mode between piles and beams, and between horizontal and vertical beams, and adopts a dual-grouting rigid connection system (grouting between pile cores 33 + grouting in the groove cavity) to form a dual force transmission path: grouting of pile cores 33 forms a quasi-embedded node between the PHC pipe pile 1 and the upper frame 3, improving bending stiffness; grouting in the groove cavity causes the upper frame 3 and lower frame 2 to deform collaboratively, improving the shear strength of the node and meeting the wave and current load requirements of offshore deep-water areas. The prefabricated straight pile wharf provided by this invention achieves a breakthrough optimization in construction efficiency and resource consumption. The core components, with a prefabrication rate of up to 95%, not only shorten the offshore operation cycle but also reduce the number of on-site construction workers. The through-hole pile hole 21 of the lower frame 2 has both positioning and guiding functions, avoiding separate pile driving and positioning procedures for each pile and shortening the construction time for a single pile. More importantly, the double-frame system, which replaces the traditional pile cap-longitudinal and transverse beam system, completely eliminates the need for offshore formwork, formwork removal, and maintenance, thereby reducing the amount of concrete poured on-site.

[0059] Based on the above technical solution, this invention also specifically addresses the common challenge of durability defects in high-prefabrication-rate wharves. Traditional prefabricated panel wharves suffer from high cracking rates due to imperfect joint treatment and chloride ion corrosion during long-term operation. This invention, based on the overall prefabrication of the upper and lower frames, employs a triple protection mechanism: ① the cast-in-place surface layer 5 completely covers the joint groove 41; ② grouting of the pile core 33 seals the pipe pile-frame interface; ③ grouting of the grooved grouting cavity prevents seawater infiltration at the frame connection, forming a continuous anti-seepage system. This reduces the corrosion rate of the prefabricated wharf structure in the marine environment and extends its lifespan. Simultaneously, the modular design supports batch prefabrication of frame components on land, reducing the cost per square meter through economies of scale.

[0060] In one of the technical solutions, the lower frame 2 is an integrally formed grid frame; the upper frame 3 includes an integrally formed grid frame, the cross section of the grid frame longitudinal beam 31 includes an integrally formed rectangle and a corbel, and the top of the corbel is flush with the top of the grid frame crossbeam 32.

[0061] The aforementioned technical solution further optimizes the structural form of the upper and lower frames. The lower frame is designed as a one-piece precast grid frame, allowing the entire small frame to be precast into a robust and precisely dimensionally accurate monolithic component. This eliminates complex on-site node connections, ensuring the overall rigidity and geometric accuracy of the lower frame. The nodes naturally formed by its grid structure serve as precisely positioned through-holes for piling, providing a reliable foundation for the rapid and accurate driving of candidate PHC pipe piles. The upper frame is also designed as a one-piece precast grid frame, ensuring integrity and precision. During the precasting of the grid frame longitudinal beams, cantilevered corbel structures are installed on the rectangular main beams. The tops of the corbels and the tops of the crossbeams are at the same level, forming a flat support surface (increasing the support area) and providing a stable support platform for the subsequent laying of precast panels. The integrated design of the upper and lower frames, along with the rigid connection achieved through grouting (grouting of the pile core and grouting of the inter-frame casting cavity), gives the entire wharf support structure excellent integrity and rigidity. Meanwhile, the factory prefabrication and rapid on-site assembly model effectively reduces labor costs, on-site management costs, and expenses for measures (such as large formwork and scaffolding), resulting in significant overall economic benefits. The integrated design of the corbels also saves on additional support material costs and installation time.

[0062] In one technical solution, the grid frame is set according to the distribution of PHC pipe piles 1, so that the pile holes 21 are all located at the nodes of the grid frame. By precisely corresponding the grid nodes of the lower frame 2 with the distribution of PHC pipe piles 1 (the pile holes 21 are strictly set at the grid intersections), the overall stability of the structure and construction efficiency are significantly improved. At the same time, the node positioning holes realize the dual control function of one hole - both constraining the planar position of the pipe piles and limiting the inclination of the pile driving through the grid ribs, eliminating the traditional positioning process and shortening the construction time of a single pile.

[0063] In one technical solution, the inner wall of the PHC pipe pile 1 is welded with several segments of spiral rib units along the depth direction. Each group of spiral rib units includes 4 to 6 rib plates arranged in an array along the circumference of the PHC pipe pile, and the 4 to 6 rib plates of each group of spiral rib units are staggered along the depth direction of the inner wall of the PHC pipe pile. The outer surface of the pile core 33 is provided with an axial straight guide groove that matches the spiral rib unit. The groove depth and width of the axial straight guide groove are adapted to the rib plate. The bottom of the pile core is processed with an inclined guide bevel corresponding to the spiral rib unit. The slope of the inclined guide bevel is 1:5. When the pile core 33 is vertically inserted, the segmented spiral rib slides into the axial straight guide groove along the guide bevel, forming a wave-shaped grouting channel between the pile core 33 and the pipe pile 1. The first grouting hole 34 is connected to the inlet of the grouting channel.

[0064] According to the above technical solution, a multi-sectioned spiral rib unit is welded to the inner wall of the PHC pipe pile. Each section consists of 4-6 circumferentially arrayed rib plates, and adjacent sections of rib plates are staggered along the depth direction to form a discontinuous spiral trajectory. An axial straight guide groove perfectly matches the rib plate on the outer surface of the pile core 33, with the groove depth / width strictly adapted to the rib plate dimensions. Simultaneously, a 1:5 slope guide bevel is machined at the bottom of the pile core 33. When the pile core 33 is vertically inserted into the pipe pile 1, the spiral rib automatically slides into the straight guide groove through the bevel. Due to the segmented staggered layout of the rib plates, a continuous undulating wave-shaped gap is formed between the pile core 33 and the inner wall of the pipe pile 1. This gap connects to the outside through the first grouting hole 34, forming a grouting passage. The wave-shaped grouting channel enhances the flow and permeability of the grout, while the mechanical interlocking of the spiral ribs significantly improves the pull-out bearing capacity. The wave-shaped grouting channel causes the grout to encapsulate each rib plate, forming a stud effect. The combined effect of these two aspects greatly improves the pull-out safety factor, making it particularly suitable for deep-water wharf surge conditions. The wave channel helps ensure that the grout fills without dead corners and avoids voids; the spiral ribs also act as stiffeners to distribute the stress of the pipe piles, reduce the risk of pile cracks, and significantly extend the service life of the wharf. The 1:5 guide bevel allows for an initial positioning deviation of ±10mm, and the staggered design of the spiral ribs avoids the risk of jamming and eliminates the need for secondary hole repair.

[0065] In one technical solution, the lower frame 2 has a height of 0.5~1.5m, the piling holes 21 are circular, elliptical, or square, and each piling hole 21 can accommodate a single straight pile or double straight piles; the upper frame 3 has a height of 0.8~2.5m. Allowing the piling holes 21 to adopt circular / elliptical / square shapes and single / double pile adaptation designs significantly enhances the adaptability of the wharf structure to complex geological and hydrological conditions. The modular combination of height and hole type allows the same structure to cover the full range of needs from inland river wharves to offshore ports with a water depth of 40m, improving the versatility of the design, increasing the reusability of prefabricated templates, and maximizing the economic benefits throughout the entire life cycle.

[0066] In one of the technical solutions, MEMS inertial units are installed at the four corners of the lower frame 2 to output pitch and roll angles at each location, thereby enabling precise monitoring and intelligent control of the attitude during construction and solving the problem of inaccurate positioning of offshore hoisting structures.

[0067] This invention further claims protection for a construction method for the prefabricated all-straight pile wharf structure, comprising:

[0068] S1. Onshore prefabricated components: The lower frame 2, upper frame 3, PHC pipe pile 1 and prefabricated panel 4 are prefabricated respectively. The lower frame 2 has a through-hole 21, the size of which is adapted to the size of the PHC pipe pile 1. The bottom of the upper frame 3 has a prefabricated pile core 33, the outer diameter of which is smaller than the inner diameter of the PHC pipe pile 1 to form a grouting gap. The upper frame 3 has a first grouting hole 34 that connects to the grouting gap. Corresponding grooves are prefabricated at the top of the lower frame 2 and the bottom of the upper frame 3 respectively.

[0069] S2, Positioning and driving of lower frame 2: Transport lower frame 2 to the construction point and position it, and drive PHC pipe pile 1 along the pile hole 21 until its top is flush with the top of lower frame 2.

[0070] S3, Installation of upper frame 3 and connection of pile foundation: hoist the upper frame 3 to the top of the lower frame 2, so that the pile core 33 is inserted into the PHC pipe pile 1, and the corresponding grooves are aligned and spliced ​​to form a closed pouring cavity. Grout outlets are reserved at both ends of the pouring cavity.

[0071] S4. Grouting and consolidation: Grout is injected into the grouting gap through the first grouting hole 34; grout is injected into the casting cavity through the second grouting hole 35;

[0072] S5. Panel and surface layer construction: The precast panels 4 are overlapped on the upper frame 3, and the adjacent precast panels 4 are reserved with cast-in-place joint grooves 41; the cast-in-place surface layer 5 is continuously poured on the precast panels 4 and the joint grooves 41.

[0073] The above technical solution achieves efficient construction of prefabricated straight pile wharf structures through full-process prefabrication and precise timing control. First, standardized components are prefabricated. The dimensions of the piling holes 21 in the lower frame 2 strictly match the dimensions of the PHC pipe piles 1. Specifically, the dimensions of the prefabricated piling holes 21 are standardized according to the number of pipe piles (single or double) installed within them. The outer diameter of the pile core 33 is smaller than the inner diameter of the PHC pipe pile 1 to create grouting gaps. The groove depth error of the upper frame 3 and lower frame 2 does not exceed 10mm, ensuring a closed casting cavity is formed after assembly. The prefabricated standardized components are further modularized at sea. The lower frame 2 is transported to the positioning point, and the PHC pipe pile 1 is hammered until its top is flush with the top surface of the lower frame 2. When the upper frame 3 is hoisted, it is ensured that the axis of the pile core 33 and the pipe pile 1 are aligned, and the grooves of the upper frame 3 and lower frame 2 are aligned. The first grouting port 34 stops when grout overflows from the pipe pile, and the second grouting port 35 stops when grout overflows from the outlet.

[0074] According to the above technical solution, a specific construction process for the prefabricated all-straight pile wharf structure is as follows:

[0075] Land-based prefabrication and sea-based transportation (S1~S2): The lower frame 2 (including piling holes 21), upper frame 3 (including pile core 33 and grouting holes), PHC pipe pile 1 (with internally welded segmented ribs) and prefabricated panels 4 are prefabricated in the factory. After the components reach 100% strength, they are transported to the site. The lower frame 2 is transported to the design point and anchored. It is leveled in real time through MEMS inertial units (the difference in tilt angle at the four corners is ≤0.1°). The PHC pipe pile 1 is driven into the design elevation along the piling holes 21.

[0076] Frame assembly and grouting consolidation (S3~S4): The upper frame 3 is hoisted and lowered, so that the segmented ribs slide into the straight guide groove along the inclined bevel (slope 1:5). First, cement grout is injected through the first grouting hole 34 (to fill the wave channel formed by the segmented ribs and the gap between the pile core 33 and the pipe pile wall), and then the grout is injected through the second grouting hole 35 to seal the groove pouring cavity.

[0077] Integrated surface layer molding (S5): After the prefabricated panels 4 are laid, joint grooves 41 are formed. The surface layer 5 is poured as a whole to cover all panels and joints. After vibration and compaction, it is covered with a film for curing.

[0078] The aforementioned construction scheme, through precise coordination between prefabrication and assembly and offshore processes, achieves a paradigm shift in the construction technology of all-straight pile wharves. In terms of structural reliability, the processing precision of the grooves in the upper frame 3 and lower frame 2, along with the grouting sequence control (first the voids of pile core 33, then the grouting cavities in the grooves), form a dual guarantee mechanism. Grouting of pile core 33 employs a pressure-flow dual control strategy (0.8~1.2MPa stable pressure grouting), significantly improving the density of the grout within the wave-shaped channel. Grouting in the groove grouting cavities creates a rigid node with high shear strength between the upper frame 3 and lower frame 2, shortening the curing period compared to cast-in-place nodes, and also helping to limit the wharf's displacement under abnormal wave and current loads. Standardized onshore prefabrication also reduces on-site offshore operations to three core processes: positioning, assembly, and grouting, forming a three-in-one construction model of standardized prefabrication, rapid offshore assembly, and intelligent management, greatly reducing the time spent by construction vessels and machinery. Especially for offshore deep-water areas, modular assembly significantly shortens the wharf construction period.

[0079] In one of the technical solutions, the specific operations of transporting the lower frame 2 to the construction site and positioning it in step S2, and hoisting the PHC pipe pile 1 along the pile hole 21 until its top is flush with the top of the lower frame 2 include:

[0080] The air-floating installation and piling method is adopted: the lower frame 2 structure and steel pontoons are transported to the project site area by a semi-submersible barge. The semi-submersible barge sinks and the lower frame 2 floats to the designated installation position with the help of the steel pontoons. After accurate positioning by GPS or GNSS, the lower frame 2 is fixed by an automatic winch connected to the piling vessel with a cable end. The lower frame 2 maintains a floating attitude and acts as a piling guide frame. PHC pipe piles 1 are hoisted along the piling hole 21 until their tops are flush with the tops of the lower frame 2.

[0081] Alternatively, a lifting and piling method can be used: the lower frame 2 structure is transported to the project site by barge, and the lower frame 2 is lifted to the designated installation position by a lifting vessel. After accurate positioning by GPS or GNSS, the lower frame 2 maintains the lifting posture and acts as a piling guide frame. PHC pipe piles 1 are driven along the piling hole 21 until their tops are flush with the tops of the lower frame 2.

[0082] The prefabricated, fully vertical pile wharf structure provided by this invention can be installed using either air-floating or lifting methods, covering water depths from 5 to 40 meters, fully meeting the construction needs from inland river wharves to offshore deep-water wharves. It solves the adaptability problem of large frame positioning and installation under different hydrological conditions: in sheltered waters or shallow water areas (water depth <20m), air-floating installation is more suitable, with a steel buoy buoyancy system ensuring stable floating of the lower frame 2 in sea conditions with wave height ≤1.5m. GPS / GNSS positioning combined with the coordinated control of the piling vessel's automatic winch achieves high planar positioning accuracy, saving additional lifting vessel costs. In deep-water open sea areas (water depth >20m), where lifting is preferred, dynamic leveling technology (based on MEMS real-time feedback) ensures the lower frame 2's landing tilt is ≤0.2%, and combined with the barge's rapid relocation capability, it reduces the installation time for a single frame.

[0083] In one of the technical solutions, when the lower frame 2 is floated to the designated installation position with the aid of steel buoys or hoisted to the designated installation position by a crane vessel, the four MEMS inertial units of the lower frame 2 output the pitch angle θ of the current angle in real time. x and roll angle θ y The angle of inclination of any angle The average of the four pitch angles is taken as the overall pitch angle β. y The overall roll angle β is the average of the four roll angles. x Overall tilt angle ;

[0084] If the overall tilt angle is >0.1°, first adjust the tilt angle of the lower frame: Trigger the steel buoy by adjusting the water volume within the buoy or by adjusting the lower frame's attitude adjustment mode using the gantry. Select the angle with the largest tilt angle as the reference angle, and adjust the gantry's leveling amount for the remaining triangles. M iLet m be the required vertical displacement leveling amount for the i-th angle; L i Let A be the distance between the i-th angle and the reference angle, in meters. 基准 The reference angle is the tilt angle, in degrees; A i Let be the inclination angle of the i-th angle, in degrees; i is an integer from 1 to 3.

[0085] The steel pontoon adjusts the water volume of the remaining triangular sections. V i Let m be the volume of water change corresponding to the i-th angle of the steel buoy. 3 S i Let m be the cross-sectional area of ​​the i-th angle steel pontoon. 2 ρ is the density of seawater, taken as 1025 kg / m³. 3 g is the acceleration due to gravity, taken as 9.8 m / s². 2 K is the displacement transfer coefficient of the steel pontoon, which is calibrated through steel pontoon tests and has a value of 0.92~0.98.

[0086] If the overall tilt angle is adjusted to ≤0.1°, or if the overall tilt angle is ≤0.1°, then further or directly adjust the lower frame displacement: Establish a virtual mesh with the center point of the lower frame design coordinates as the origin. Based on the real-time output of the spatial position of each corner by the four corner MEMS inertial units, calculate the deviation of each corner from the theoretical value. x i,实测 y i,实测 These are the measured coordinates of the current angle in the x and y directions, where x is the x-coordinate and y-coordinate. i,理论 y i,理论 The theoretical coordinates of the current angle in the x and y directions are given. If the maximum deviation of the coordinates of the four angles is greater than 10mm, the adjustment of the cable or the gantry is triggered so that the angle with the largest deviation is moved first, and then the angles are moved one by one in order of decreasing deviation.

[0087] The above technical solution achieves centimeter-level intelligent control of the lower frame's attitude by deeply integrating MEMS sensors and dynamic leveling algorithms: MEMS sensors at the four corners (STIM210 inertial measurement units can be selected) output pitch and roll angles in real time, and the central processing unit uses the overall tilt angle as the leveling trigger criterion; when the overall tilt angle is >0.5°, the reference angle with the largest tilt angle is selected, and the vertical leveling amount of the remaining triangles is calculated, such as by adjusting the water volume through steel buoys to achieve precise leveling; when the overall tilt angle is ≤0.5°, a virtual grid with the design center as the origin is established, and the coordinate deviation of each corner is calculated. If the maximum deviation value is >50mm, the corner with the largest deviation value is moved first, and the movement amount is the difference between the measured value and the theoretical value. Then, the corners are corrected in descending order of deviation value until the deviation values ​​of all four corners are ≤20mm.

[0088] The aforementioned intelligent leveling system has pushed the installation precision of large offshore structures to a new level. The hierarchical control strategy, which prioritizes tilt angles and then fine-tunes coordinates, greatly reduces positioning time and ensures the continuous progress of the pile driving process. More importantly, through precise compensation of the leveling amount by the gantry crane or the water volume of the steel buoy and the deviation angle vector algorithm, the system can still maintain the dynamic stability of the frame in sea conditions with a wave height of 1.5m, which greatly extends the construction window period.

[0089] In one of the technical solutions, step S3, during the installation of the upper frame 3, is executed as follows:

[0090] When the upper frame 3 is hoisted to 1-2m above the lower frame 2, the MEMS inertial units at the four corners of the upper frame 3 are activated to establish a spatial coordinate mapping with the MEMS inertial units at the four corners of the lower frame 2. The distance between corresponding corners of the upper frame 3 and the lower frame 2 is calculated every 10s. x i,上 y i,上 The measured coordinates of the current angle of the upper frame 3 in the x and y directions are given by x. i,下 y i,下 The measured coordinates of the current angle of the lower frame 2 in the x and y directions are given. The plane containing the angle with the smallest distance is taken as the verification plane. The theoretical spatial positions of the four corners of the upper frame 3 in the verification plane are calculated. The deviation values ​​of each corner relative to the theoretical values ​​are calculated as above. If the maximum deviation value of the coordinates of the four corners is >50mm, the gantry is triggered to adjust the attitude of the upper frame 3 so that the corner with the largest deviation value moves first, and then each corner is moved in order of decreasing deviation value.

[0091] The above technical solution achieves centimeter-level precision assembly through dual-frame MSME spatial coordinate dynamic mapping technology. When the upper frame 3 is hoisted to 1-2m above the lower frame 2, the MEMS inertial units at the four corners of the upper frame 3 are activated to synchronously transmit spatial coordinates, and the control board establishes a unified coordinate system. Every 10 seconds, the distance between corresponding corner points is calculated, and the plane containing the corner with the smallest distance is selected as the verification plane. Based on this plane, the deviation between the measured coordinates and the theoretical positions of the four corners of the upper frame 3 is calculated. If the maximum deviation is >50mm, the gantry vector control is triggered: the corner with the largest deviation is moved first, and then the angles are adjusted in descending order of deviation until all corner deviations are ≤20mm. The spatial coordinate mapping algorithm controls the installation error of the upper and lower frames 2 to the centimeter level, ensuring the effective volume of the casting cavity. The dynamic reference plane selection technology eliminates the relative motion error caused by waves, and can still ensure the correspondence between the pile core 33 and the pipe pile axis even in sea conditions with a wave height of 1.5m.

[0092] The number of devices and processing capacity described herein are for simplification. Applications, modifications, and variations of the prefabricated all-straight pile wharf structure and its construction method of this invention will be readily apparent to those skilled in the art.

[0093] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A prefabricated, all-straight-pile wharf structure, characterized in that: include: A pile foundation and positioning frame assembly, comprising a prefabricated lower frame and PHC pipe piles, wherein the lower frame is provided with through-holes for driving piles, and the size of the driving piles is adapted to the size of the PHC pipe piles; The wharf support frame assembly, which is attached to the lower frame, includes a prefabricated upper frame. The bottom of the upper frame is provided with a pile core into which the PHC pipe pile is inserted. There is a grouting gap between any pile core and the inner wall of the PHC pipe pile. The upper frame is provided with a first grouting hole that communicates with the grouting gap. The pier surface layer component, which is erected on the upper frame, includes precast panels and cast-in-place surface layer. The precast panels have multiple precast joint grooves reserved between adjacent precast panels. The cast-in-place surface layer continuously covers all precast panels and joint grooves. The lower frame has a pair of opposite grooves at the top and the upper frame at the bottom. The pair of grooves are joined together to form a closed casting cavity. Grout outlets are reserved at both ends of the casting cavity. The upper frame has a second grouting hole that extends through the casting cavity.

2. The prefabricated all-straight pile wharf structure as described in claim 1, characterized in that, The lower frame is a one-piece mesh frame; the upper frame includes a one-piece grid frame, the longitudinal beam of the grid frame includes a one-piece rectangle and a corbel, and the top of the corbel is flush with the top of the crossbeam of the grid frame.

3. The prefabricated all-straight pile wharf structure as described in claim 2, characterized in that, The grid frame is set according to the distribution of PHC pipe piles, so that the pile holes are all located at the nodes of the grid frame.

4. The prefabricated all-straight pile wharf structure as described in claim 3, characterized in that, The inner wall of the PHC pipe pile is welded with several segments of spiral rib units along the depth direction. Each group of spiral rib units includes 4 to 6 rib plates arranged in an array along the circumference of the PHC pipe pile. The 4 to 6 rib plates of each group of spiral rib units are staggered along the depth direction of the inner wall of the PHC pipe pile. The outer surface of the pile core is provided with an axial straight guide groove that matches the spiral rib unit. The groove depth and width of the axial straight guide groove are adapted to the rib plate. The bottom of the pile core is machined with an inclined guide bevel corresponding to the spiral rib unit. The slope of the inclined guide bevel is 1:

5. When the pile core is vertically inserted, the segmented spiral rib slides into the axial straight guide groove along the guide bevel, forming a wave-shaped grouting channel between the pile core and the PHC pipe pile. The first grouting hole is connected to the inlet of the grouting channel.

5. The prefabricated all-straight pile wharf structure as described in claim 4, characterized in that, The lower frame has a height of 0.5~1.5m, and the pile holes are circular, elliptical or square, and any pile hole can be fitted with a single straight pile or double straight piles as needed; the upper frame has a height of 0.8~2.5m, and the pile core length is 5~6 times the outer diameter of the PHC pipe pile.

6. The prefabricated all-straight-pile wharf structure as described in claim 5, characterized in that, MEMS inertial units are installed at the four corners of the lower frame to output pitch and roll angles at each location.

7. A construction method for a prefabricated, fully straight-pile wharf structure according to any one of claims 1 to 6, characterized in that, include: S1. Onshore prefabricated components: The lower frame, upper frame, PHC pipe piles and prefabricated panels are prefabricated separately. The lower frame has through-holes for piling, and the size of the piling holes is adapted to the size of the PHC pipe piles. The bottom of the upper frame has prefabricated pile cores, and the outer diameter of the pile cores is smaller than the inner diameter of the PHC pipe piles to form grouting gaps. The upper frame has a first grouting hole that connects to the grouting gaps. Corresponding grooves are prefabricated at the top of the lower frame and the bottom of the upper frame. S2. Positioning and driving of the lower frame: Transport the lower frame to the construction site and position it. Drive the PHC pipe piles along the pile holes until their tops are flush with the tops of the lower frame. S3. Upper frame installation and pile connection: hoist the upper frame to the top of the lower frame so that the pile core is inserted into the PHC pipe pile and the corresponding grooves are aligned to form a closed pouring cavity. Grout outlets are reserved at both ends of the pouring cavity. S4. Grouting and consolidation: Grout is injected into the grouting gap through the first grouting hole; grout is injected into the casting cavity through the second grouting hole; S5. Panel and surface layer construction: The precast panels are overlapped on the upper frame, and the joint grooves for cast-in-place are reserved between adjacent precast panels; the cast-in-place surface layer is continuously poured on the precast panels and joint grooves.

8. The construction method as described in claim 7, characterized in that, Step S2 involves transporting the lower frame to the construction site and positioning it, then driving the PHC pipe piles along the pile holes until their tops are flush with the top of the lower frame. The specific operations include: The air-floating installation and piling method is adopted: a semi-submersible barge is used to transport the lower frame structure and steel pontoons to the project site. The semi-submersible barge sinks, and the lower frame floats to the designated installation position with the help of the steel pontoons. After accurate positioning by GPS or GNSS, the lower frame is fixed by an automatic winch connected to the piling vessel with a cable end. The lower frame maintains a floating attitude and acts as a piling guide frame. PHC pipe piles are hoisted along the piling holes until their tops are flush with the tops of the lower frame. Alternatively, a lifting and piling method can be used: the lower frame structure is transported to the project site by barge, and then lifted to the designated installation position by a lifting vessel. After accurate positioning by GPS or GNSS, the lower frame is kept in the lifting posture and acts as a piling guide. PHC pipe piles are driven along the piling holes until their tops are flush with the top of the lower frame.

9. The construction method as described in claim 8, characterized in that, When the lower frame is floated to the designated installation position with the aid of steel buoys or lifted to the designated installation position by a crane vessel, the four MEMS inertial units of the lower frame output the pitch angle θ of their respective angles in real time. x and roll angle θ y The angle of inclination A of any angle = The average of the four pitch angles is taken as the overall pitch angle β. y The overall roll angle β is the average of the four roll angles. x Overall tilt angle B = ; If the overall tilt angle is >0.1°, first adjust the tilt angle of the lower frame: Trigger the steel buoy by adjusting the water volume within the buoy or by adjusting the lower frame's attitude adjustment mode using the gantry. Select the angle with the largest tilt angle as the reference angle, and adjust the gantry's leveling amount for the remaining triangles. = M i Let m be the required vertical displacement leveling amount for the i-th angle; L i Let A be the distance between the i-th angle and the reference angle, in meters. 基准 The reference angle is the tilt angle, in degrees; A i Let be the inclination angle of the i-th angle, in degrees; i is an integer from 1 to 3. The steel pontoon adjusts the water volume of the remaining triangular sections. V i Let m be the volume of water change corresponding to the i-th angle of the steel buoy. 3 ; S i Let m be the cross-sectional area of ​​the i-th angle steel pontoon. 2 ρ is the density of seawater, taken as 1025 kg / m³. 3 g is the acceleration due to gravity, taken as 9.8 m / s². 2 K is the displacement transfer coefficient of the steel pontoon, which is calibrated through steel pontoon tests and has a value of 0.92~0.

98. If the overall tilt angle is adjusted to ≤0.1°, or if the overall tilt angle is ≤0.1°, then further or directly adjust the lower frame displacement: Establish a virtual mesh with the center point of the lower frame design coordinates as the origin. Based on the real-time output of the spatial position of each corner by the four corner MEMS inertial units, calculate the deviation of each corner from the theoretical value. x i,实测 y i,实测 These are the measured coordinates of the current angle in the x and y directions, where x is the x-coordinate and y-coordinate. i,理论 y i,理论 The theoretical coordinates of the current angle in the x and y directions are given. If the maximum deviation of the coordinates of the four angles is greater than 50mm, the adjustment of the cable or the gantry is triggered so that the angle with the largest deviation is moved first, and then the angles are moved one by one in order of decreasing deviation.

10. The construction method as described in claim 9, characterized in that, During the installation of the upper frame in step S3, the following steps are performed: When the upper frame is hoisted to 1-2m above the lower frame, activate the MEMS inertial units at the four corners of the upper frame and establish a spatial coordinate mapping with the MEMS inertial units at the four corners of the lower frame. Calculate the distance between corresponding corners of the upper and lower frames every 10s. = x i,上 y i,上 These are the measured coordinates of the current angle of the upper frame in the x and y directions, where x is the x-coordinate. i,下 y i,下 The measured coordinates of the current angle of the lower frame in the x and y directions are given. The plane containing the angle with the smallest distance is taken as the verification plane. The theoretical spatial positions of the four corners of the upper frame in the verification plane are calculated. The deviation of each corner from the theoretical value is calculated in the same way. If the maximum deviation of the coordinates of the four corners is >50mm, the gantry is triggered to adjust the attitude of the upper frame so that the corner with the largest deviation value moves first, and then each corner is moved in order of decreasing deviation value.

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